platformio.ini

;PlatformIO Project Configuration File
;
;   Build options: build flags, source filter
;   Upload options: custom upload port, speed and extra flags
;   Library options: dependencies, extra library storages
;   Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html

; *****************************************************************************
; PlatformIO specific configurations
; *****************************************************************************
[platformio]
; Define default environments, which shall be automatically be built.
;default_envs = CalibTarget
;default_envs = CalibSim
;default_envs = ConvoyLeaderTarget
;default_envs = ConvoyLeaderSim
;default_envs = ConvoyFollowerSim
;default_envs = ConvoyFollowerTarget
;default_envs = LineFollowerTarget
;default_envs = LineFollowerSim
default_envs = LineFollowerSimpleSim
;default_envs = RemoteControlTarget
;default_envs = RemoteControlSim
;default_envs = SensorFusionTarget
;default_envs = SensorFusionSim
;default_envs = TestSim

; *****************************************************************************
; Common configurations, which is independed of the environment.
; *****************************************************************************
[common]
build_flags =
    -DTEAM_NAME_LINE_1="\"Radon\""
    -DTEAM_NAME_LINE_2="\"Ulzer\""

; *****************************************************************************
; Static check configuration
; *****************************************************************************
[static_check_configuration]
check_tool = cppcheck, clangtidy
check_severity = medium, high
check_patterns =
    include
    src
    lib
check_flags =
    cppcheck: cppcheck: --suppress=*:*/libdeps/* --suppress=*:*lib/Webots/* --suppress=noExplicitConstructor --suppress=unusedFunction --std=c++11
    clangtidy: --header-filter='' --checks=-*,clang-analyzer-*,performance-*,portability-*,readability-uppercase-literal-suffix,readability-redundant-control-flow --warnings-as-errors=-*,clang-analyzer-*,performance-*,portability-*,readability-uppercase-literal-suffix,readability-redundant-control-flow
check_skip_packages = yes

; *****************************************************************************
; Target environment for Zumo32U4.
; *****************************************************************************
[hal:Target]
platform = atmelavr @ ~4.1.0
board = a-star32U4
framework = arduino
build_flags =
    ${common.build_flags}
    -Wno-switch
    -Werror
lib_deps =
    BlueAndi/ZumoHALATmega32u4 @ ~1.0.0
lib_ignore =
    HALTest
extra_scripts =
    post:./scripts/create_binary.py

monitor_speed = 115200

; The monitor port shows the debug output and the test output.
; If you connect the robot to your pc, this is the port you will see.
monitor_port = com11

; The upload port is spawned by the bootmonitor and used to update the program on the target.
; If you connect the robot to your pc, press twice reset button to jump to the bootloader,
; this is the port you will see.
upload_port = com5

; The test port is spawned by the bootmonitor and used to update the test on the target.
; If you connect the robot to your pc, press twice reset button to jump to the bootloader,
; this is the port you will see.
test_port = com9

; *****************************************************************************
; PC target environment for Webots simulation.
;
; It is assumed that the environment variable WEBOTS_HOME is set to the
; Webots directory, e.g. WEBOTS_HOME=C:\Users\<user>\AppData\Local\Programs\Webots
; *****************************************************************************
[hal:Sim]
platform = native @ ~1.2.1
build_flags =
    -std=c++11
    -I./lib/Webots/include/c
    -I./lib/Webots/include/cpp
    -D TARGET_NATIVE
    -D _USE_MATH_DEFINES
lib_deps =
    MainNative
    BlueAndi/ZumoHALWebots @ ~1.1.0
    Webots
lib_ignore =
    HALTest
extra_scripts =
    ./scripts/webots_launcher.py
    pre:$PROJECT_LIBDEPS_DIR/$PIOENV/ZumoHALWebots/scripts/create_webots_library.py
    pre:$PROJECT_LIBDEPS_DIR/$PIOENV/ZumoHALWebots/scripts/copy_sounds.py
    post:$PROJECT_LIBDEPS_DIR/$PIOENV/ZumoHALWebots/scripts/copy_webots_shared_libs.py
    post:./scripts/package.py
webots_robot_name = Zumo
webots_robot_serial_rx_channel = 1
webots_robot_serial_tx_channel = 2

; *****************************************************************************
; PC target environment for tests
; *****************************************************************************
[hal:Test]
platform = native @ ~1.2.1
build_flags =
    -std=c++11
    -Itest/common
    -D TARGET_NATIVE
    -D UNIT_TEST
    -D _USE_MATH_DEFINES
lib_deps =
    MainTestNative
    BlueAndi/ArduinoNative @ ~0.2.1
    BlueAndi/ZumoHALInterfaces @ ~1.0.2
    HALTest
lib_ignore =
    Webots
extra_scripts =

; *****************************************************************************
; Calibration application
; *****************************************************************************
[app:Calib]
build_flags =
    ${common.build_flags}
    -DLOG_DEBUG_ENABLE
lib_deps =
    APPCalib
    Service
lib_ignore =
    APPConvoyLeader
    APPLineFollower
    APPRemoteControl
    APPSensorFusion
    APPTest

; *****************************************************************************
; Calibration application specific HAL for target
; *****************************************************************************
[hal_app:CalibTarget]
extends = hal:Target
build_flags =
    ${hal:Target.build_flags}
lib_deps =
    ${hal:Target.lib_deps}
    HALCalibTarget
lib_ignore =
    ${hal:Target.lib_ignore}
extra_scripts =
    ${hal:Target.extra_scripts}

; *****************************************************************************
; Calibration application specific HAL for simulation
; *****************************************************************************
[hal_app:CalibSim]
extends = hal:Sim
build_flags =
    ${hal:Sim.build_flags}
lib_deps =
    ${hal:Sim.lib_deps}
    HALCalibSim
lib_ignore =
    ${hal:Sim.lib_ignore}
extra_scripts =
    ${hal:Sim.extra_scripts}

; *****************************************************************************
; Convoy leader application
; *****************************************************************************
[app:ConvoyLeader]
build_flags =
    ${common.build_flags}
    -DLOG_DEBUG_ENABLE
lib_deps =
    APPConvoyLeader
    Service
    gabryelreyes/SerialMuxProt @ ~2.2.2
lib_ignore =
    APPCalib
    APPConvoyFollower
    APPLineFollower
    APPRemoteControl
    APPSensorFusion
    APPTest

; *****************************************************************************
; Convoy leader application specific HAL for target
; *****************************************************************************
[hal_app:ConvoyLeaderTarget]
extends = hal:Target
build_flags =
    ${hal:Target.build_flags}
lib_deps =
    ${hal:Target.lib_deps}
    HALConvoyLeaderTarget
lib_ignore =
    ${hal:Target.lib_ignore}
extra_scripts =
    ${hal:Target.extra_scripts}

; *****************************************************************************
; Convoy leader application specific HAL for simulation
; *****************************************************************************
[hal_app:ConvoyLeaderSim]
extends = hal:Sim
build_flags =
    ${hal:Sim.build_flags}
lib_deps =
    ${hal:Sim.lib_deps}
    HALConvoyLeaderSim
lib_ignore =
    ${hal:Sim.lib_ignore}
extra_scripts =
    ${hal:Sim.extra_scripts}

; *****************************************************************************
; Convoy follower application
; *****************************************************************************
[app:ConvoyFollower]
build_flags =
    ${common.build_flags}
    -DLOG_DEBUG_ENABLE
lib_deps =
    APPConvoyFollower
    Service
    gabryelreyes/SerialMuxProt @ ~2.2.2
lib_ignore =
    APPCalib
    APPConvoyLeader
    APPLineFollower
    APPRemoteControl
    APPSensorFusion
    APPTest

; *****************************************************************************
; Convoy follower application specific HAL for target
; *****************************************************************************
[hal_app:ConvoyFollowerTarget]
extends = hal:Target
build_flags =
    ${hal:Target.build_flags}
lib_deps =
    ${hal:Target.lib_deps}
    HALConvoyFollowerTarget
lib_ignore =
    ${hal:Target.lib_ignore}
extra_scripts =
    ${hal:Target.extra_scripts}

; *****************************************************************************
; Convoy follower application specific HAL for simulation
; *****************************************************************************
[hal_app:ConvoyFollowerSim]
extends = hal:Sim
build_flags =
    ${hal:Sim.build_flags}
lib_deps =
    ${hal:Sim.lib_deps}
    HALConvoyFollowerSim
lib_ignore =
    ${hal:Sim.lib_ignore}
extra_scripts =
    ${hal:Sim.extra_scripts}

; *****************************************************************************
; Line follower application
; *****************************************************************************
[app:LineFollower]
build_flags =
    ${common.build_flags}
    -DLOG_DEBUG_ENABLE
lib_deps =
    APPLineFollower
    Service
lib_ignore =
    APPCalib
    APPConvoyFollower
    APPConvoyLeader
    APPRemoteControl
    APPSensorFusion
    APPTest

; *****************************************************************************
; Simple line follower application
; *****************************************************************************
[app:LineFollowerSimple]
build_flags =
    ${common.build_flags}
    -DLOG_DEBUG_ENABLE
lib_deps =
    APPLineFollowerSimple
    Service
lib_ignore =
    APPCalib
    APPConvoyFollower
    APPConvoyLeader
    APPLineFollower
    APPRemoteControl
    APPSensorFusion
    APPTest

; *****************************************************************************
; Line follower application specific HAL for target
; *****************************************************************************
[hal_app:LineFollowerTarget]
extends = hal:Target
build_flags =
    ${hal:Target.build_flags}
lib_deps =
    ${hal:Target.lib_deps}
    HALLineFollowerTarget
lib_ignore =
    ${hal:Target.lib_ignore}
extra_scripts =
    ${hal:Target.extra_scripts}

; *****************************************************************************
; Line follower application specific HAL for simulation
; *****************************************************************************
[hal_app:LineFollowerSim]
extends = hal:Sim
build_flags =
    ${hal:Sim.build_flags}
lib_deps =
    ${hal:Sim.lib_deps}
    HALLineFollowerSim
lib_ignore =
    ${hal:Sim.lib_ignore}
extra_scripts =
    ${hal:Sim.extra_scripts}

; *****************************************************************************
; Remote control application
; *****************************************************************************
[app:RemoteControl]
build_flags =
    ${common.build_flags}
    -DLOG_DEBUG_ENABLE
lib_deps =
    APPRemoteControl
    Service
    gabryelreyes/SerialMuxProt @ ~2.2.2
lib_ignore =
    APPCalib
    APPConvoyFollower
    APPConvoyLeader
    APPLineFollower
    APPSensorFusion
    APPTest

; *****************************************************************************
; Remote control application specific HAL for target
; *****************************************************************************
[hal_app:RemoteControlTarget]
extends = hal:Target
build_flags =
    ${hal:Target.build_flags}
lib_deps =
    ${hal:Target.lib_deps}
    HALRemoteControlTarget
lib_ignore =
    ${hal:Target.lib_ignore}
extra_scripts =
    ${hal:Target.extra_scripts}

; *****************************************************************************
; Remote control application specific HAL for simulation
; *****************************************************************************
[hal_app:RemoteControlSim]
extends = hal:Sim
build_flags =
    ${hal:Sim.build_flags}
lib_deps =
    ${hal:Sim.lib_deps}
    HALRemoteControlSim
lib_ignore =
    ${hal:Sim.lib_ignore}
extra_scripts =
    ${hal:Sim.extra_scripts}

; *****************************************************************************
; Sensor Fusion application
; *****************************************************************************
[app:SensorFusion]
build_flags =
    ${common.build_flags}
    -DLOG_DEBUG_ENABLE
lib_deps =
    APPSensorFusion
    Service
    gabryelreyes/SerialMuxProt @ ~2.2.2
lib_ignore =
    APPCalib
    APPConvoyFollower
    APPConvoyLeader
    APPLineFollower
    APPRemoteControl
    APPTest

; *****************************************************************************
; Sensor Fusion application specific HAL for target
; *****************************************************************************
[hal_app:SensorFusionTarget]
extends = hal:Target
build_flags =
    ${hal:Target.build_flags}
lib_deps =
    ${hal:Target.lib_deps}
    HALSensorFusionTarget
lib_ignore =
    ${hal:Target.lib_ignore}
extra_scripts =
    ${hal:Target.extra_scripts}

; *****************************************************************************
; Sensor Fusion application specific HAL for simulation
; *****************************************************************************
[hal_app:SensorFusionSim]
extends = hal:Sim
build_flags =
    ${hal:Sim.build_flags}
lib_deps =
    ${hal:Sim.lib_deps}
    HALSensorFusionSim
lib_ignore =
    ${hal:Sim.lib_ignore}
extra_scripts =
    ${hal:Sim.extra_scripts}

; *****************************************************************************
; Test application
; *****************************************************************************
[app:Test]
build_flags =
    ${common.build_flags}
lib_deps =
    APPTest
    Service
lib_ignore =
    APPCalib
    APPConvoyFollower
    APPConvoyLeader
    APPLineFollower
    APPRemoteControl
    APPSensorFusion

; *****************************************************************************
; Test application specific HAL for target
; *****************************************************************************
[hal_app:TestSim]
extends = hal:Test
build_flags =
    ${hal:Test.build_flags}
lib_deps =
    ${hal:Test.lib_deps}
    HALTestSim
lib_ignore =
    ${hal:Test.lib_ignore}
extra_scripts =
    ${hal:Test.extra_scripts}

; *****************************************************************************
; Calibration application on simulation
; *****************************************************************************
[env:CalibSim]
extends = hal_app:CalibSim, app:Calib, static_check_configuration
build_flags =
    ${hal_app:CalibSim.build_flags}
    ${app:Calib.build_flags}
lib_deps =
    ${hal_app:CalibSim.lib_deps}
    ${app:Calib.lib_deps}
lib_ignore =
    ${hal_app:CalibSim.lib_ignore}
    ${app:Calib.lib_ignore}
extra_scripts =
    ${hal_app:CalibSim.extra_scripts}

; *****************************************************************************
; Calibration application on target
; *****************************************************************************
[env:CalibTarget]
extends = hal_app:CalibTarget, app:Calib, static_check_configuration
build_flags =
    ${hal_app:CalibTarget.build_flags}
    ${app:Calib.build_flags}
lib_deps =
    ${hal_app:CalibTarget.lib_deps}
    ${app:Calib.lib_deps}
lib_ignore =
    ${hal_app:CalibTarget.lib_ignore}
    ${app:Calib.lib_ignore}
extra_scripts =
    ${hal_app:CalibTarget.extra_scripts}

; *****************************************************************************
; Convoy leader application on target
; *****************************************************************************
[env:ConvoyLeaderTarget]
extends = hal_app:ConvoyLeaderTarget, app:ConvoyLeader, static_check_configuration
build_flags =
    ${hal_app:ConvoyLeaderTarget.build_flags}
    ${app:ConvoyLeader.build_flags}
lib_deps =
    ${hal_app:ConvoyLeaderTarget.lib_deps}
    ${app:ConvoyLeader.lib_deps}
lib_ignore =
    ${hal_app:ConvoyLeaderTarget.lib_ignore}
    ${app:ConvoyLeader.lib_ignore}
extra_scripts =
    ${hal_app:ConvoyLeaderTarget.extra_scripts}

; *****************************************************************************
; Convoy leader application on simulation
; *****************************************************************************
[env:ConvoyLeaderSim]
extends = hal_app:ConvoyLeaderSim, app:ConvoyLeader, static_check_configuration
build_flags =
    ${hal_app:ConvoyLeaderSim.build_flags}
    ${app:ConvoyLeader.build_flags}
lib_deps =
    ${hal_app:ConvoyLeaderSim.lib_deps}
    ${app:ConvoyLeader.lib_deps}
lib_ignore =
    ${hal_app:ConvoyLeaderSim.lib_ignore}
    ${app:ConvoyLeader.lib_ignore}
extra_scripts =
    ${hal_app:ConvoyLeaderSim.extra_scripts}

; *****************************************************************************
; Convoy follower application on target
; *****************************************************************************
[env:ConvoyFollowerTarget]
extends = hal_app:ConvoyFollowerTarget, app:ConvoyFollower, static_check_configuration
build_flags =
    ${hal_app:ConvoyFollowerTarget.build_flags}
    ${app:ConvoyFollower.build_flags}
lib_deps =
    ${hal_app:ConvoyFollowerTarget.lib_deps}
    ${app:ConvoyFollower.lib_deps}
lib_ignore =
    ${hal_app:ConvoyFollowerTarget.lib_ignore}
    ${app:ConvoyFollower.lib_ignore}
extra_scripts =
    ${hal_app:ConvoyFollowerTarget.extra_scripts}

; *****************************************************************************
; Convoy follower application on simulation
; *****************************************************************************
[env:ConvoyFollowerSim]
extends = hal_app:ConvoyFollowerSim, app:ConvoyFollower, static_check_configuration
build_flags =
    ${hal_app:ConvoyFollowerSim.build_flags}
    ${app:ConvoyFollower.build_flags}
lib_deps =
    ${hal_app:ConvoyFollowerSim.lib_deps}
    ${app:ConvoyFollower.lib_deps}
lib_ignore =
    ${hal_app:ConvoyFollowerSim.lib_ignore}
    ${app:ConvoyFollower.lib_ignore}
extra_scripts =
    ${hal_app:ConvoyFollowerSim.extra_scripts}

; *****************************************************************************
; Line follower application on target
; *****************************************************************************
[env:LineFollowerTarget]
extends = hal_app:LineFollowerTarget, app:LineFollower, static_check_configuration
build_flags =
    ${hal_app:LineFollowerTarget.build_flags}
    ${app:LineFollower.build_flags}
lib_deps =
    ${hal_app:LineFollowerTarget.lib_deps}
    ${app:LineFollower.lib_deps}
lib_ignore =
    ${hal_app:LineFollowerTarget.lib_ignore}
    ${app:LineFollower.lib_ignore}
extra_scripts =
    ${hal_app:LineFollowerTarget.extra_scripts}

; *****************************************************************************
; Line follower application on simulation
; *****************************************************************************
[env:LineFollowerSim]
extends = hal_app:LineFollowerSim, app:LineFollower, static_check_configuration
build_flags =
    ${hal_app:LineFollowerSim.build_flags}
    ${app:LineFollower.build_flags}
    -D DEBUG_ALGORITHM
    ;-D DEBUG_ODOMETRY
lib_deps =
    ${hal_app:LineFollowerSim.lib_deps}
    ${app:LineFollower.lib_deps}
lib_ignore =
    ${hal_app:LineFollowerSim.lib_ignore}
    ${app:LineFollower.lib_ignore}
extra_scripts =
    ${hal_app:LineFollowerSim.extra_scripts}

; *****************************************************************************
; Simple line follower application on target
; *****************************************************************************
[env:LineFollowerSimpleTarget]
extends = hal_app:LineFollowerTarget, app:LineFollowerSimple, static_check_configuration
build_flags =
    ${hal_app:LineFollowerTarget.build_flags}
    ${app:LineFollowerSimple.build_flags}
lib_deps =
    ${hal_app:LineFollowerTarget.lib_deps}
    ${app:LineFollowerSimple.lib_deps}
lib_ignore =
    ${hal_app:LineFollowerTarget.lib_ignore}
    ${app:LineFollowerSimple.lib_ignore}
extra_scripts =
    ${hal_app:LineFollowerTarget.extra_scripts}

; *****************************************************************************
; Simple line follower application on simulation
; *****************************************************************************
[env:LineFollowerSimpleSim]
extends = hal_app:LineFollowerSim, app:LineFollowerSimple, static_check_configuration
build_flags =
    ${hal_app:LineFollowerSim.build_flags}
    ${app:LineFollowerSimple.build_flags}
lib_deps =
    ${hal_app:LineFollowerSim.lib_deps}
    ${app:LineFollowerSimple.lib_deps}
lib_ignore =
    ${hal_app:LineFollowerSim.lib_ignore}
    ${app:LineFollowerSimple.lib_ignore}
extra_scripts =
    ${hal_app:LineFollowerSim.extra_scripts}

; *****************************************************************************
; Remote control application on target
; *****************************************************************************
[env:RemoteControlTarget]
extends = hal_app:RemoteControlTarget, app:RemoteControl, static_check_configuration
build_flags =
    ${hal_app:RemoteControlTarget.build_flags}
    ${app:RemoteControl.build_flags} 
lib_deps =
    ${hal_app:RemoteControlTarget.lib_deps}
    ${app:RemoteControl.lib_deps}
lib_ignore =
    ${hal_app:RemoteControlTarget.lib_ignore}
    ${app:RemoteControl.lib_ignore}
extra_scripts =
    ${hal_app:RemoteControlTarget.extra_scripts}

; *****************************************************************************
; Remote control application on simulation
; *****************************************************************************
[env:RemoteControlSim]
extends = hal_app:RemoteControlSim, app:RemoteControl, static_check_configuration
build_flags =
    ${hal_app:RemoteControlSim.build_flags}
    ${app:RemoteControl.build_flags}
lib_deps =
    ${hal_app:RemoteControlSim.lib_deps}
    ${app:RemoteControl.lib_deps}
lib_ignore =
    ${hal_app:RemoteControlSim.lib_ignore}
    ${app:RemoteControl.lib_ignore}
extra_scripts =
    ${hal_app:RemoteControlSim.extra_scripts}

; *****************************************************************************
; Sensor Fusion application on target
; *****************************************************************************
[env:SensorFusionTarget]
extends = hal_app:SensorFusionTarget, app:SensorFusion, static_check_configuration
build_flags =
    ${hal_app:SensorFusionTarget.build_flags}
    ${app:SensorFusion.build_flags}
lib_deps =
    ${hal_app:SensorFusionTarget.lib_deps}
    ${app:SensorFusion.lib_deps}
lib_ignore =
    ${hal_app:SensorFusionTarget.lib_ignore}
    ${app:SensorFusion.lib_ignore}
extra_scripts =
    ${hal_app:SensorFusionTarget.extra_scripts}

; *****************************************************************************
; Sensor Fusion application on simulation
; *****************************************************************************
[env:SensorFusionSim]
extends = hal_app:SensorFusionSim, app:SensorFusion, static_check_configuration
build_flags =
    ${hal_app:SensorFusionSim.build_flags}
    ${app:SensorFusion.build_flags}
lib_deps =
    ${hal_app:SensorFusionSim.lib_deps}
    ${app:SensorFusion.lib_deps}
lib_ignore =
    ${hal_app:SensorFusionSim.lib_ignore}
    ${app:SensorFusion.lib_ignore}
extra_scripts =
    ${hal_app:SensorFusionSim.extra_scripts}

; *****************************************************************************
; PC target environment for tests
; *****************************************************************************
[env:TestSim]
extends = hal_app:TestSim, app:Test, static_check_configuration
build_flags =
    ${hal_app:TestSim.build_flags}
    ${app:Test.build_flags}
lib_deps =
    ${hal_app:TestSim.lib_deps}
    ${app:Test.lib_deps}
lib_ignore =
    ${hal_app:TestSim.lib_ignore}
    ${app:Test.lib_ignore}
extra_scripts =
    ${hal_app:TestSim.extra_scripts}